/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Thomas Mörwald (University of Technology Vienna)
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Thomas Mörwald nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * @author thomas.moerwald
 *
 */

#ifndef _NURBS_CURVE_H_
#define _NURBS_CURVE_H_

#include <pcl/pcl_macros.h>

#include "eigen_defs.h"
#include "nurbs_basis.h"

namespace pcl
{
  namespace nurbs
  {
    class PCL_EXPORTS NurbsCurve
    {
      public:
        NurbsCurve ()
        {}

        NurbsCurve (unsigned degree, const vector_vec4 &control_points)
        : basis_ (degree, control_points.size ())
        , control_points_ (control_points)
        {}

        void
        evaluate (const double &xi, vec3 &point) const;

        void
        evaluate (const double &xi, vec3 &point, vec3 &grad) const;

        void
        insertKnot (const double &xi);

        inline vec4
        getControlPoint (std::size_t i) const
        {
          return control_points_[i];
        }

        inline void
        setControlPoint (std::size_t i, const vec4 &cp)
        {
          control_points_[i] = cp;
        }

        inline std::size_t
        countControlPoints () const
        {
          return control_points_.size ();
        }

        inline std::size_t
        degree () const
        {
          return basis_.degree ();
        }

        inline void
        getElementVector (std::vector<double> &result) const
        {
          basis_.getElementVector (result);
        }

        void
        dump () const;

      private:
        NurbsBasis basis_;
        vector_vec4 control_points_;
    };
  }
}

#endif
